aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_GPS: Only setup state's instance field during init

Browse Source
This commit is contained in:
Michael du Breuil 2017-07-18 11:07:41 -07:00 committed by Francisco Ferreira
parent 52ddaa3e72
commit 5684a5dd36
1 changed files with 5 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_GPS/AP_GPS.cpp
View File

@ -281,6 +281,11 @@ void AP_GPS::init(const AP_SerialManager& serial_manager)
// Initialise class variables used to do GPS blending
_omega_lpf = 1.0f / constrain_float(_blend_tc, 5.0f, 30.0f);
// prep the state instance fields
for (uint8_t i = 0; i < GPS_MAX_INSTANCES; i++) {
state[i].instance = i;
}
// sanity check update rate
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
if (_rate_ms[i] <= 0 || _rate_ms[i] > GPS_MAX_RATE_MS) {
@ -399,7 +404,6 @@ void AP_GPS::detect_instance(uint8_t instance)
struct detect_state *dstate = &detect_state[instance];
uint32_t now = AP_HAL::millis();
state[instance].instance = instance;
state[instance].status = NO_GPS;
state[instance].hdop = GPS_UNKNOWN_DOP;
state[instance].vdop = GPS_UNKNOWN_DOP;
@ -618,7 +622,6 @@ void AP_GPS::update_instance(uint8_t instance)
delete drivers[instance];
drivers[instance] = nullptr;
memset(&state[instance], 0, sizeof(state[instance]));
state[instance].instance = instance;
state[instance].status = NO_GPS;
state[instance].hdop = GPS_UNKNOWN_DOP;
state[instance].vdop = GPS_UNKNOWN_DOP;